JP3319090B2 - Mobile work robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot, such as an automatic floor cleaner or an automatic floor finisher, which automatically performs work while repeating reciprocating movement.

[0002]

2. Description of the Related Art In recent years, various types of mobile work robots have been developed which automatically perform work by adding a travel drive device, sensors, and travel control means to work equipment. For example, a self-propelled cleaner has a suction nozzle or a brush at the bottom of the main body as a cleaning function, a traveling and steering means as a moving function, an obstacle detecting means for detecting an obstacle during traveling, and a position recognition means for recognizing a position. The obstacle detecting means recognizes the cleaning area by the position recognition means while moving along a wall or the like around the cleaning place, and moves and cleans the entire cleaning area.

[0003] First, the turn width related to the present invention.
The turn angle will be described with reference to FIG. The main body 1 of the mobile work robot moves all the way inside the room as shown by the solid line arrow while repeating a straight line and a turn having a movement distance W in the work direction and an angle θ.
This W is the turn width, and θ is the turn angle. Turn width
The turn angle is required to have a predetermined distance and angle according to the working width of the main body 1. If the predetermined turn width and turn angle cannot be realized, the work is left unattended or the work efficiency is reduced.

In a conventional mobile work robot, in order to obtain a predetermined turn width and turn angle, as shown in FIG. 11B, the drive wheel 2R inside the turn is fixed in rotation and only the outside drive wheel 2L is used. By rotating, the turning operation was performed around the point O.

[0005]

However, in the conventional mobile robot that performs the above-described turning operation, the main body changes its direction around the contact surface of the inner wheel, so that the wheel rubs violently against the floor surface (stationary cutting). , Hadten wheel wear and hurt the floor. Especially on carpets, hair is stripped,
They made indelible scratches.

An object of the present invention is to solve the problems of the above-mentioned conventional mobile work robot, and perform a turn operation with almost no friction between the wheels and the floor, and a predetermined turn width / turn angle. It is a primary object to provide a mobile work robot that obtains the following.

It is a second object of the present invention to provide a mobile work robot that eliminates the remaining work in an internal area caused by a turn operation.

In connection with the first object, if there is an obstacle during the turn operation, the obstacle is avoided and a predetermined turn width and
A third object is to provide a mobile work robot that obtains a turn angle.

It is a fourth object of the present invention to provide a mobile work robot that performs a turn operation with almost no friction between the wheels and the floor surface and obtains a predetermined turn angle more accurately.

[0010]

The first object of the present invention for achieving the first object is to provide driving wheels provided on left and right sides of a main body.
And drive means and the steering means to be driven to move the main body, and a traveling control means for controlling and driving control of the main body and a steering means and the driving means, a moving distance measuring means for measuring a travel distance of the body, and a working unit for performing operations such as cleaning, the travel control means, the locus calculation means for calculating a travel locus of the body based on the output of the moving distance measuring means, based on the output of the locus calculating means, first stage Eye turn left
Move one of the right drive wheels forward and the other
In turn it is an mobile work robot having a two-stage turn means for reversing the direction of the main body in two stages operation of advancing the both the right and left driving wheels.

According to a second aspect of the present invention for achieving the second object, in addition to the configuration of the first aspect of the present invention, the traveling control means includes a retreating means for retreating the main body before the turning operation. Mobile work robot.

A third means of the present invention for attaining the third object comprises, in addition to the structure of the first means of the present invention, an obstacle detecting means for detecting an obstacle around the main body, and The control means reverses the turn width based on the output of the trajectory calculating means, based on the output of the trajectory calculating means, and the retracting means for retracting the main body based on the output of the obstacle detecting means during the turning operation.
A mobile work robot having a speed calculating means for calculating a new driving speed of the turn operation.

A fourth means of the present invention for achieving a fourth object is a driving means and a steering means for driving driving wheels provided on the left and right sides of the main body to move the main body, A travel control unit that controls the drive unit and the steering unit to control the travel of the main body, a direction measurement unit that measures the direction of the main unit, and a work unit that performs an operation such as cleaning.The travel control unit includes:
Based on the output of the direction measuring means , the first turn is
One of the left and right drive wheels is moved forward and the other is moved backward, two steps
At the turn of the eye, if you advance both the left and right drive wheels
The mobile work robot has two-stage turning means for reversing the direction of the main body by the two-stage operation.

[0014]

The first means of the present invention performs the turning operation without fixing the rotation of the wheel of the main body, and can substantially eliminate the friction between the wheel and the floor surface. further,
By dividing the turn operation into two stages based on the information on the travel trajectory of the main body, a predetermined turn width and a predetermined turn angle can be obtained with less wasteful movement.

The second means of the present invention is to provide a retreat means for retreating the main body before the turn operation, thereby eliminating the remaining work in the internal area caused by the work means not passing in the turn operation. Can be done.

A third means of the present invention is to provide an obstacle detecting means and a retreating means so that if there is an obstacle during the turning operation, it can be avoided. Further, by providing the drive speed calculating means, a new drive speed that can correct these errors when the avoidance occurs or when an error occurs between a predetermined trajectory of the turn operation and an actual trajectory. Can be obtained, and a predetermined turn width can be secured using this speed.

According to a fourth aspect of the present invention, similar to the first aspect of the present invention, the turning operation is performed without fixing the rotation of the wheel of the main body, and the friction between the wheel and the floor is almost eliminated. Can be. Further, by dividing the turning operation into two stages based on the direction of the main body, a predetermined turning angle can be obtained more accurately with less wasteful movement.

[0018]

Embodiment 1 Hereinafter, a mobile work robot according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2 using a self-propelled cleaner as an example.
1 is a main body of a self-propelled vacuum cleaner (hereinafter simply referred to as a main body), 2
L · 2R are driving wheels provided on the left and right rear of the main body 1, respectively, and are driven by the driving motors 3L · 3R independently of left / right. 4
Is a driven wheel rotatably attached to the front of the main body 1.
As described above, the driving wheels 2L and 2R, the driving motors 3L and 3R, and the driven wheels 4 constitute a driving unit for moving the main body 1 and a steering unit. 3L 'and 3R' are drive motors 3L
A rotation detector including a rotary encoder and the like connected to the 3R detects the number of rotations of the drive motors 3L and 3R, and constitutes a moving distance measuring unit. Reference numeral 29 denotes a storage battery, which supplies power to the entire main body 1. Reference numeral 5 denotes a door provided on the rear surface of the main body, through which the storage battery 29 is exchanged. Reference numeral 8 denotes a telescopic handle, which is housed inside the main body 1 as shown in FIG. 1 when the main body 1 moves automatically, but is used by extending it obliquely upward to the rear of the main body 1 when moving it manually. (Not shown). 1
Reference numeral 1 denotes a shock absorber made of an elastic material attached to the periphery of the main body 1, and reduces a shock when the main body 1 collides with an obstacle. Reference numeral 12 denotes contact detection means which protrudes from the main body 1 from the side to the front of the main body 1, and detects contact with obstacles such as protrusions, steps, furniture, and humans from the front and side walls, columns, and floors. To detect. Reference numeral 22 denotes distance measuring means for measuring a distance to an obstacle on the front side and right and left sides of the main body 1, and is configured by an ultrasonic sensor provided around the main body 1. As described above, the contact detecting means 1
2. The distance measuring means 22 constitutes an obstacle detecting means for detecting an obstacle around the main body 1. Reference numeral 23 denotes a direction measuring means for measuring the direction of the main body 1, which in this embodiment comprises a rate gyro, an integrator for integrating the output, and the like.
Reference numeral 21 denotes a travel control unit that controls the drive motors 3L and 3R based on information from the obstacle detection unit and the direction measurement unit 23 to control the travel of the main body 1. 14 is an electric blower, 15
Is a dust collection chamber, and 16 and 17 are filters provided therein. Reference numeral 18 denotes a floor nozzle provided at the rear of the bottom of the main body 1, which is connected to the dust collection chamber 15 via a connection pipe 19. 20
Is a brush, which has a configuration in which flocks are provided around a disk, and is rotatably driven by a motor provided in the main body 1 to sweep and collect dust on the floor surface toward the inside of the main body 1. As described above, the electric blower 14, the dust collection chamber 15, the filters 16 and 17, the floor nozzle 18, the connection pipe 19, and the brush 20 constitute a cleaning unit. Reference numeral 27 denotes an operation button provided on the operation unit 28.

FIG. 3 is a control block diagram of the first means of this embodiment, and the control configuration of this embodiment will be described below with reference to FIG. The outputs of the moving distance measuring means 3L 'and 3R ' are transmitted to the traveling control means 21. The traveling control means 21 determines this output and outputs a control signal to the drive motors 3L and 3R to control the moving direction and traveling distance of the main body 1. In the present embodiment, the traveling control means 21 has a two-step turning means 31 and a trajectory calculating means 32. Two-stage turning means 31
Controls the drive motors 3L and 3R to turn the main body 1 in a two-step operation. The trajectory calculating means 32 receives the output of the moving distance measuring means 3L 'and 3R ', calculates the direction of the main body and the running trajectory, and outputs the calculation result to the two-step turn means 31.

Next, the operation of this embodiment will be described with reference to FIG. FIG. 4 shows the turn of the two-stage operation of the main body 1 in the state of movement of the left and right drive wheels 2L and 2R. In the following description, it is assumed that the turn width W required for the main body 1 is equal to the tread of the left and right drive wheels, and the turn angle is 180 °. The switching from the first stage to the second stage of the turn operation and the end of the second stage turn are performed by the output of the trajectory calculating means 32 (which sequentially calculates the direction of the main body 1 and the trajectory indicated by the dashed arrow), By comparing the stored set values, the two-stage turn means 31 commands. The set value is a displacement of the main body 1 in the turn direction (horizontal direction in the drawing) of the locus, or a change in angle. For example, in this embodiment, the set value is the displacement W at the end of the first stage turn.
1. The change in angle is 90 °, the displacement W (= turn width) and the change in angle are 180 ° (= turn angle) at the end of the second-stage turn. And assuming an ideal turn, 1
The description will proceed assuming that the locus of the first and second stages draws a beautiful 1/4 arc. Now, suppose that the main body 1 is oriented in the direction of the arrow DA at the turn start position A. First, the first turn is started. In the first turn,
The left drive wheel 2L moves forward at a constant peripheral speed VL1, and the right drive wheel 2R
At a constant peripheral speed VR1. The center of rotation of the turn is a fixed point O1 determined by the ratio between the peripheral speeds VL1 and VR1. When the trajectory of the main body 1 moves W1 in the turn direction, it reaches the point B,
Turn 90 ° and turn in the direction of arrow DB. At this point, the first turn is completed. Next, the second turn is started. In the second turn, the left drive wheel 2L moves forward at a constant peripheral speed VL2, and the right drive wheel 2R moves at a constant peripheral speed VR2.
To move forward. The rotation center of the turn is the peripheral speed VL2 and VR2
The fixed point O2 is determined by the ratio of. When the trajectory of the main body 1 moves a total of W in the turn direction, the trajectory reaches the point C. From the point A, the trajectory turns 180 ° and turns in the direction of the arrow DC. At this point, the second-stage turn is completed, that is, all turn operations are completed. Peripheral speeds VL1 and VL2 of left driving wheel 2L and right driving wheel 2
It is also assumed that the two-stage turn means 31 stores a preset value for the peripheral speeds VR1 and VR2 of R. The above is the turn of the two-step operation by the two-step turn means 31. By slightly rotating the wheel inside the turn in this way, it is possible to almost eliminate friction between the wheel and the floor. By setting the turn to a two-step operation, a predetermined turn width and a predetermined turn angle can be obtained with less wasteful movement. However, in practice, displacement and angle do not correspond due to errors, and the set value that serves as a reference for operation switching must be determined to be either displacement or angle. Good. It is assumed that the trajectory calculating means 32 always calculates both the displacement and the angle.

Generally, mobile work robots such as automatic floor cleaners and automatic floor finishers often have a work width almost equal to the tread of the left and right wheels due to the structure of the main body.
The turn operation of the present embodiment is an effective method.

The position of the rotation center of the turn only needs to be on the center line of the left and right driving wheels 2L and 2R.
It is not limited to O2. Also, the switching of the turn operation has been described assuming that the turn angle is 90 °, the turn angle is 180 °, and the turn width is W (tread). However, values slightly different from these may be used. Further, when determining the switching and the end of the turn operation, the elapsed time may be determined using a time measuring means instead of the output of the moving distance measuring means 3L ' and 3R '.

(Embodiment 2) Hereinafter, a mobile work robot which is an embodiment of the second means of the present invention will be described by taking a self-propelled cleaner as an example. The configuration of the main body is the same as that of the first embodiment shown in FIGS.

FIG. 5 is a control block diagram of the second means of this embodiment, which is basically the same as that of FIG. 3 of the first embodiment, and therefore only different parts will be described. In the present embodiment, the traveling control means 21 has a retreating means 33. Immediately before the two-step turning means 31 turns the main body 1 in the two-step operation, the retreat means 33 controls the drive motors 3L and 3R to retreat the main body 1 by a predetermined distance.

Next, the operation of this embodiment will be described with reference to FIG. However, since the basic two-step operation is the same as that in FIG. 4 of the first embodiment, the detailed description is omitted. In FIG. 6, first, a thin rectangle in the figure indicates a moving state of the drive wheels 2L and 2R when the retreat operation is not performed. By the way, the main body 1 which has gone straight along the solid arrow T1
Starts the turn of the two-step operation from the position A. Then, after the position B where the operation of the second stage is started, the turn is ended at the position C, and the vehicle goes straight along the solid arrow T2. The solid line indicates the boundary of the area to be cleaned by the floor nozzle 18 during this series of movements, but the hatched internal area (the area around which all have been cleaned) is left uncleaned. This is because the floor nozzle 18 is behind the driving wheels 2L and 2R (see FIGS. 1 and 2). Next, circles indicate the movement states of the drive wheels 2L and 2R after the retreat operation. The main body 1 that has proceeded straight along the solid arrow T1 retreats from the position A to the position A '. Then, the turn of the two-step operation is started from the position A '. Then, after the position B 'where the operation of the second stage is started, the turn is ended at the position C', and the vehicle goes straight along the solid arrow T2. The broken line indicates the boundary of the cleaning area by the floor nozzle 18 after the retreat operation. That is, the retreat means 33
If the main body 1 is retracted from A to A 'once before the turn of the two-step operation, the turn required time including the retreat operation becomes longer, but it is possible to eliminate the remaining cleaning in the internal area. it can. Basically 2 which does not stop the rotation of drive wheel 2
In the turn of the step operation, as long as the suction port of the floor nozzle 18 is not on the left and right driving wheel axes, the area and shape of the region are different, but there is an unfinished region, so the retreating operation of this embodiment is an effective method.

(Embodiment 3) Hereinafter, a mobile work robot which is an embodiment of the third means of the present invention will be described using a self-propelled cleaner as an example. The configuration of the main body is the same as that of the first embodiment shown in FIGS.

FIG. 7 is a control block diagram of the third means of this embodiment. The control configuration of this embodiment will be described below with reference to FIG. The outputs of the obstacle detecting means including the contact detecting means 12 and the distance measuring means 22 and the outputs of the moving distance measuring means 3L ' and 3R ' are transmitted to the traveling control means 21. Travel control means 2
1 determines these outputs and outputs control signals to the drive motors 3L and 3R to control the moving direction and travel distance of the main body 1. In the present embodiment, the traveling control means 21 has a two-step turning means 31, a retreating means 33, a trajectory calculating means 32 and a speed calculating means 35. The two-stage turning means 31 controls the drive motors 3L and 3R to turn the main body 1 in a two-stage operation. The retreating means 33 includes the contact detecting means 1 during the turn.
2. Based on the output of the obstacle detecting means comprising the distance measuring means 22, the driving motors 3L and 3R are controlled to move the main body 1 backward. The trajectory calculating means 32 receives the output of the moving distance measuring means 3 ', calculates the direction of the main body and the running trajectory, and outputs the calculation result to the two-step turn means 31 and the speed calculating means 35.
The speed calculating means 35 calculates a new driving speed to cancel the error of the turn width due to the retreat based on the output of the trajectory calculating means 32 when the retreat operation is performed during the turn,
Output to the two-stage turn means 31.

FIG. 8 is a flowchart showing a control method according to this embodiment. It will be described step by step. First, the first turn is started. During operation, the presence or absence of an obstacle is always determined. If there is an obstacle, the vehicle performs a retreat operation, and then returns to the first-stage turn operation again. If there is no obstacle, it is determined whether or not the first turn is completed, and the first turn is continued until the end is determined. If the end is determined, the drive speed in the second-stage turn is calculated and the second-stage turn is started regardless of whether the retreat operation is performed. The turn of the second stage is continued until the end of the turn of the second stage is determined, and when the end is determined, all the operations of the turn are ended.

Next, the actual operation of this embodiment will be described with reference to FIG. However, since the basic two-step operation is the same as that in FIG. 4 of the first embodiment, the detailed description is omitted. It is assumed that the main body 1 is already in the first stage of turn operation and is located at the point H1 as shown in the figure. Then, it is assumed that the distance measuring means 22 or the contact detecting means 12 has detected a pillar P (an example of an obstacle) protruding from the wall surface. At this time, the main body 1 is moved from H1 to H2 by the retreating means 33.
Retreat to position. When the retreat operation is completed, the main body 1 returns to the first-stage turn operation again and moves along the locus indicated by the solid arrow. When the point M is reached, the process proceeds to the second stage turn. At this time, if the drive speed is turned at the initial set value, the turning radius r2 is the same as the locus (the two-dot chain line) when there is no retraction operation. Turns around the fixed point O2 and moves along the locus of the broken line. As a result, the turn width becomes W 'and a predetermined turn width cannot be secured. So M
At this point, the speed calculating means 35 calculates a new driving speed capable of securing a predetermined turn width. In other words, since it is only necessary to move from the point M to the locus (two-dot chain line) where there is no reversing operation, the left and right driving speeds following the locus (solid line) of the turning radius r2 'around the fixed point O2' can be calculated. I just need.
This operation is easy. And a predetermined turn width W can be secured. As described above, according to the present embodiment, even if there is an obstacle during a turn, the obstacle is avoided, and the avoided amount is corrected in the second turn, so that a predetermined turn width W can be obtained. is there.

In FIG. 9, there is also a method in which, when the first reverse operation is completed, the second-stage turn is immediately started at a new driving speed without returning to the first-stage turn. At this time, the trajectory indicated by the dotted line of the radius of gyration r2 "is shown. The retreating operation by the retreating operation 33 is drawn as a straight-forward movement, but an arcuate trajectory does not pose any problem.

(Embodiment 4) A mobile work robot which is an embodiment of the fourth means of the present invention will be described below by taking a self-propelled cleaner as an example. The configuration of the main body is the same as that of the first embodiment shown in FIGS.

FIG. 10 is a control block diagram of the fourth means of this embodiment. The control configuration of this embodiment will be described below with reference to FIG. The output of the direction measuring means 23 is transmitted to the traveling control means 21. The traveling control means 21 determines this output and outputs a control signal to the drive motors 3L and 3R to control the moving direction and traveling distance of the main body 1. In the present embodiment, the traveling control means 21 has a two-stage turning means 31.
The two-stage turning means 31 controls the drive motors 3L and 3R to turn the main body 1 in a two-stage operation.

Next, the operation of this embodiment will be described with reference to FIG. FIG. 4 shows the turn of the two-stage operation of the main body 1 in the state of movement of the left and right drive wheels 2L and 2R. In the following description, it is assumed that the turn width W required for the main body 1 is equal to the tread of the left and right drive wheels, and the turn angle is 180 °. The switching from the first stage to the second stage of the turn operation and the end of the second stage turn are performed by the output of the direction measuring means 23 (which sequentially measures the direction of the main body 1) and the set value stored in advance. By comparison, the two-stage turn means 31 commands. The set value is a change in the angle of the main body 1. For example, in the present embodiment, the set value is 90 ° at the end of the first-stage turn and 180 ° (= turn angle) at the end of the second-stage turn. Then, assuming an ideal turn, the description proceeds assuming that the trajectory draws a beautiful 1/4 arc in both the first and second stages. Now, suppose that the main body 1 is oriented in the direction of the arrow DA at the turn start position A. First, the first turn is started. In the first turn, the left driving wheel 2L moves forward at a constant peripheral speed VL1, and the right driving wheel 2R moves backward at a constant peripheral speed VR1. The center of rotation of the turn is a fixed point O1 determined by the ratio between the peripheral speeds VL1 and VR1. When the point B is reached, the body 1 is 90
° and turn to the direction of arrow DB. At this point, the first turn is completed. Next, the second turn is started. In the second stage turn, the left drive wheel 2L advances at a constant peripheral speed VL2, and the right drive wheel 2R advances at a constant peripheral speed VR2. The rotation center of the turn is a fixed point O2 determined by the ratio between the peripheral speeds VL2 and VR2. When point C is reached, body 1
The direction is changed by 180 ° from the point to the direction of arrow DC.
At this point, the second-stage turn is completed, that is, all turn operations are completed. The two-stage turn means 31 stores values set in advance for the peripheral speeds VL1 and VL2 of the left drive wheel 2L and the peripheral speeds VR1 and VR2 of the right drive wheel 2R. The above is the turn of the two-step operation by the two-step turn means 31 based on the output of the direction measuring means 23. By slightly rotating the wheel inside the turn in this way, it is possible to almost eliminate friction between the wheel and the floor. Since the turn is a two-step operation, the direction of the main body 1 is directly detected by the angle with a less wasteful movement, so that a predetermined turn angle can be obtained more accurately.

The direction measuring means 23 is not limited to the rate gyro used in the present embodiment and the integrator for integrating the output, but may be any device capable of detecting the direction, such as a geomagnetic sensor. It is also possible to add the functions of the first, second, and third embodiments to the control block of the present embodiment. At this time, the trajectory calculating means 32 outputs not only the output of the moving distance measuring means 3 'but also the direction detecting means 23. If the calculation is also performed by using the output of (1), a more accurate trajectory can be obtained.

[0035]

If Re good to the present invention as described above, according to the present invention, which can be friction between the wheels and the floor performs a little turning operation, to realize the mobile work robot to obtain a predetermined turn-width turn angle It is.

[0036] In addition, if Re good to the present invention, one in which it is possible to realize a mobile work robot to eliminate the unfinished tasks that occur during the Tar down operations.

Further, if Re good to the present invention, if there is an obstacle in the terpolymer down operation to avoid this, in which it is possible to realize a mobile work robot to obtain a predetermined turn-width turn angle.

[0038] Furthermore, Re good to the present invention performs almost no turning operation is friction between the wheel and the floor, in which it is possible to realize a mobile work robot obtained a predetermined turn angle more accurately.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view of a mobile work robot which is an embodiment of first, second, third, and fourth means of the present invention.

FIG. 2 is a cross-sectional view of the mobile work robot.

FIG. 3 is a control block diagram of traveling control means of the mobile work robot which is an embodiment of the first means of the present invention.

FIG. 4 is an explanatory view for explaining the operation of a mobile work robot which is an embodiment of the first and fourth means of the present invention.

FIG. 5 is a control block diagram of traveling control means of the mobile work robot which is an embodiment of the second means of the present invention.

FIG. 6 is an explanatory diagram illustrating the operation of the mobile work robot.

FIG. 7 is a control block diagram of traveling control means of the mobile work robot which is an embodiment of the third means of the present invention.

FIG. 8 is a flowchart showing a control method of traveling control means of the mobile work robot.

FIG. 9 is an explanatory view illustrating the operation of the mobile work robot.

FIG. 10 is a control block diagram of traveling control means of the mobile work robot which is an embodiment of the fourth means of the present invention.

FIG. 11 is an explanatory diagram illustrating a turn operation of a conventional mobile work robot.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Main body 2 Drive wheel 3 Drive motor 3 L'3R 'Moving distance measuring means 4 Follower wheel 12 Contact detection means 14 Electric blower 15 Dust collection chamber 16, 17 Filter 18 Floor nozzle 19 Connection pipe 20 Brush 21 Travel control means 22 Distance measuring Means 23 Direction measuring means 31 Two-step turning means 32 Trajectory calculating means 33 Retreating means 35 Speed calculating means

──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Hidetaka Yabuuchi 1006 Kazuma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. In-company (72) Inventor Toshiaki Fujiwara 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. Person Hirofumi Inui 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture (72) Inside Matsushita Electric Industrial Co., Ltd. 1006 Kadoma, Matsudai, Matsushita Electric Industrial Co., Ltd. (56) References JP-A-63-241611 (JP, A) JP-A-5-46246 (JP) A) JP-A-63-127310 (JP, A) JP-A-62-15610 (JP, A) JP-A-62-154008 (JP, A) JP-A-63-241610 (JP, A) (58) Survey Field (Int.Cl. ⁷ , DB name) G05D 1/02

Claims (4)

(57) [Claims] 1. A front wheel is driven by driving driving wheels provided on left and right sides of a main body.
A drive means and steering means for moving the serial body, a driving control means for controlling and driving control of the main body and a steering means and the driving means, a moving distance measuring means for measuring a travel distance of the main body, work such as cleaning The traveling control means comprises: a trajectory calculating means for calculating a trajectory of the main body based on an output of the moving distance measuring means; and a first-stage turn based on an output of the trajectory calculating means. Of the left and right drive wheels
One moves forward, the other moves back, and the second turn
A mobile work robot having two-stage turning means for reversing the direction of the main body by a two-stage operation of moving both the left and right drive wheels forward . 2. The mobile work robot according to claim 1, wherein the travel control means includes retreat means for retreating the main body before the turning operation. 3. A driving means for moving a main body and a steering wheel.
A step, and controlling the drive means and the steering means to control the travel of the main body.
Travel control means for controlling the travel distance of the main body.
Equipped with a moving distance measuring means and a working means for performing operations such as cleaning.
The traveling control means is configured to output the travel distance based on the output of the travel distance measuring means.
Trajectory calculating means for calculating the trajectory of the main body based on the trajectory
The direction of the main body is reversed in two steps based on the output of the arithmetic means.
And rolling makes two-step turn means comprises an obstacle detecting means for detecting an obstacle around the main body, the travel control means, a retraction means for retracting based on the output of the obstacle detection means in the turning operation of the body , organic based on the output of the locus calculating means, so as to cancel the error of the turn width by retraction, the speed calculating means for calculating a new driving speed of turning operation
Mobile work robot. 4. The driving wheels provided on the left and right sides of the main body are driven to
Performing a drive means and steering means for moving the serial body, a driving control means for controlling and driving control of the main body and a steering means and the driving means, and direction measuring means for measuring the direction of the body, a work such as cleaning Operating means, wherein the traveling control means performs a first stage turn based on an output of the direction measuring means.
Moves one of the left and right drive wheels forward and the other
At the turn of the stage, both the left and right drive wheels are advanced
Mobile work robot having a two-stage turn means for reversing the direction of the main body in two stages operation of that.